/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_system.h"
#include "JY62.h"
#include "oled.h"
#include "my_UART.h"

//串口发送重定向（重写printf函数）
int fputc(int ch, FILE *f)
{
    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
    return ch;
}

int fgetc(FILE *f)
{
    uint8_t ch;
    HAL_UART_Receive(&huart1,&ch,1,HAL_MAX_DELAY);
    return ch;
}

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
extern UART_Node my_uart6;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t rx_buffer[11]; // 字节接收
char displayBuffer[32]; // 用于格式化字符串
extern float Roll, Pitch, Yaw;
extern float wX, wY, wZ;
extern float offset;
extern uint8_t pid_modified;
extern float PID_data_array[4][3];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/*------------------------------JY62接收数据----------------------------------------*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if (huart->Instance == huart2.Instance)
  {
 	    // 将接收到的单字节传递给解析函数，因为JY62是逐个解析所以逐个接收不能使用for循环一次接收
        jy61p_ReceiveData(jy62_data);
        // 启用中断接收（每次接收1字节）
        HAL_UART_Receive_DMA(&huart2, &jy62_data, 1);
  }
}

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart,uint16_t Size)
{
 if (huart == &huart6) 
 {
//	 printf("中断：%d\n",Size);
    __HAL_UNLOCK(huart); // 解锁接收
    my_uart6.ReceveNum = Size; // 获取接收数据长度   
    memset(my_uart6.ReceiveData, 0, sizeof(my_uart6.ReceiveData)); // 清空接收缓冲区
	memcpy(my_uart6.ReceiveData, my_uart6.BuffTemp, Size); // 将接收到的数据复制到ReceiveData
	my_uart6.data_flag = 1; // 设置数据接收标志
	 
    HAL_UARTEx_ReceiveToIdle_DMA(&huart6, my_uart6.BuffTemp, sizeof(my_uart6.BuffTemp)); // 重新启动DMA接收
	 
 }
}


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
	
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_USART2_UART_Init();
  MX_I2C1_Init();
  MX_TIM4_Init();
  MX_TIM2_Init();
  MX_USART6_UART_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
	W25QXX_Init();
	//W25QXX_first_Init();
	OLED_Init();
 	OLED_Clear();
	scheduler_init();	
	Motor_Init();	
	Speed_PID_Init();
	encoder_init(&encoder);
	Yaw_target = Yaw;//目标航向角为当前航向角，开始时小车直走
	HAL_UARTEx_ReceiveToIdle_DMA(&huart6, my_uart6.BuffTemp, sizeof(my_uart6.BuffTemp)); 
	HAL_TIM_Base_Start_IT(&htim3);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
   HAL_UART_Receive_DMA(&huart2, &jy62_data, 1);
	while (1)
  {   
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  //printf ("%.2f %.2f %.2f\n",JY62_PID.Kp,JY62_PID.Ki,JY62_PID.Kd);
	  //printf("%d\n",HAL_GetTick());
	  //printf("%d %d %d %d %d %d %d\n",sensor_arry[1],sensor_arry[2],sensor_arry[3],sensor_arry[4],sensor_arry[5],sensor_arry[6],sensor_arry[7]);

	scheduler_run();
   }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
